WO2024012286A1 - Procédé et appareil de tonte, robot de tonte et support de stockage - Google Patents

Procédé et appareil de tonte, robot de tonte et support de stockage Download PDF

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Publication number
WO2024012286A1
WO2024012286A1 PCT/CN2023/105133 CN2023105133W WO2024012286A1 WO 2024012286 A1 WO2024012286 A1 WO 2024012286A1 CN 2023105133 W CN2023105133 W CN 2023105133W WO 2024012286 A1 WO2024012286 A1 WO 2024012286A1
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Prior art keywords
mowing
lawn
route
robot
area
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PCT/CN2023/105133
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English (en)
Chinese (zh)
Inventor
陈建林
魏基栋
Original Assignee
松灵机器人(深圳)有限公司
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Publication of WO2024012286A1 publication Critical patent/WO2024012286A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D91/00—Methods for harvesting agricultural products
    • A01D91/04—Products growing above the soil
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06316—Sequencing of tasks or work
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/02—Agriculture; Fishing; Forestry; Mining

Definitions

  • This application relates to the field of computer technology, and specifically relates to an intelligent obstacle avoidance method, a lawn mowing robot and a storage medium.
  • Lawn mowing robots are widely used in the maintenance of home courtyard lawns and the mowing of large lawns.
  • the lawn mowing robot combines motion control, multi-sensor fusion and path planning technologies.
  • the mowing path of the lawn mower robot needs to be planned so that it can completely cover all working areas.
  • a lawn mowing robot that travels along a preset route, due to improper planning of the preset route, the actual route traveled by the current lawn mower robot is very long, resulting in reduced lawn mowing efficiency and consuming more storage of the lawn mower robot. of electrical energy.
  • Various embodiments of the present application provide an intelligent obstacle avoidance method, a lawn mowing robot, and a storage medium, which can generate obstacle avoidance paths based on the adaptability of obstacles and improve the obstacle avoidance efficiency and flexibility of the lawn mowing robot.
  • embodiments of the present application provide a lawn mowing method, including:
  • the lawn mowing robot is controlled to perform a lawn mowing operation based on the closed mowing route.
  • Grass order including:
  • the mowing order corresponding to the working area is determined.
  • generating a closed mowing route covering all working areas based on the mowing sequence, the current position information of the lawn mowing robot and the mowing direction including:
  • the generated mowing routes are connected to obtain a closed mowing route covering all working areas, where the starting point and end point of the closed mowing route are located at the current location of the lawn mowing robot.
  • generating a mowing route corresponding to each of the working areas based on the mowing sequence and the mowing direction of the lawn mowing robot includes:
  • an initial mowing route traveling along the mowing direction is generated, wherein, The starting point of the initial mowing route is located at the current position of the lawn mowing robot, and the end point of the initial mowing route is located within the working area of the first mowing sequence;
  • a mowing route corresponding to each of the working areas is sequentially generated.
  • generating an initial mowing route along the mowing direction includes:
  • the initial mowing route is adjusted to a mowing route in which the lawn mowing robot travels along the mowing boundary of the corresponding work area, wherein the working The area is a closed area formed by connecting multiple line segments in sequence, and each of the line segments is the mowing boundary of the working area.
  • the mowing route corresponding to each of the working areas is parallel to the longest boundary of the corresponding working area.
  • embodiments of the present application provide a lawn mowing method, including:
  • the lawn mowing robot is controlled to perform a lawn mowing operation based on the closed mowing route.
  • a lawn mowing device including:
  • the acquisition module is used to respond to the lawn mowing trigger request for the lawn mower robot and obtain multiple preset working areas;
  • a sorting module configured to output the mowing order corresponding to the working area according to the regional information of the working area
  • Generating module configured to generate a closed mowing route covering all working areas based on the mowing sequence, the current position information of the lawn mowing robot, and the mowing direction, wherein the starting point and end point of the closed mowing route are the same ;
  • a control module configured to control the lawn mowing robot to perform lawn mowing operations based on the closed mowing route.
  • a lawn mowing device including:
  • the acquisition module is used to respond to the mowing trigger request for the lawn mower robot and obtain the preset working area;
  • Generating module configured to generate a closed mowing route of the working area according to the area shape of the working area, the current position information of the lawn mowing robot, and the mowing direction, wherein the starting point and end point of the closed mowing route are the same ;
  • a control module configured to control the lawn mowing robot to perform lawn mowing operations based on the closed mowing route.
  • embodiments of the present application provide a lawn mowing robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the following is implemented: Steps to any of the lawn mowing methods described above.
  • embodiments of the present application provide a storage medium on which a computer program is stored, wherein when the computer program is executed by a processor, the steps of the lawn mowing method described in any one of the above items are implemented.
  • the embodiment of the present application responds to the mowing trigger request for the lawn mowing robot, obtains multiple preset working areas, and then outputs the mowing sequence corresponding to the working area based on the area information of the working area. Then, based on the The mowing sequence, the current position information of the lawn mowing robot and the mowing direction are used to generate a closed mowing route covering all working areas, where the starting point and end point of the closed mowing route are the same. Finally, based on the closed mowing route The mowing route controls the lawn mowing robot to perform lawn mowing operations.
  • the mowing sequence corresponding to the working area is output based on the regional information of the working area.
  • the lawn mowing robot does not need to start mowing along the mowing route from a fixed starting point or return to a fixed end point after completing the mowing operation. It can use the lawn mowing robot at any time.
  • the current position of the lawn mower is used as the starting point to start the lawn mowing operation, which is beneficial to improving the lawn mowing efficiency.
  • the lawn mower robot performs the lawn mowing operation according to the same closed mowing route of the starting point and the end point, it can save the lawn mower robot from returning from the end point.
  • the time of the starting point can be optimized to optimize the mowing route of the lawn mower robot, reduce the power consumption of the lawn mower robot, and improve the lawn mowing efficiency.
  • the lawn mower robot responds to the mowing trigger request for the lawn mower robot, obtains the preset working area, and then, according to the regional shape of the working area, the current position information of the lawn mowing robot, and the mowing direction, Generate a closed mowing route of the working area, wherein the starting point and end point of the closed mowing route are the same, and then control the lawn mowing robot to perform a mowing operation based on the closed mowing route.
  • the starting point and end point of the route are the same, so that the lawn mowing robot does not need to start mowing along the mowing route from a fixed starting point or return to a fixed end point after completing the mowing operation. It can use the current position of the lawn mowing robot as the starting point at any time. Start the lawn mowing operation, which is helpful to improve the lawn mowing efficiency.
  • the lawn mower robot carries out the lawn mowing operation according to the same closed mowing route with the same starting point and end point, the lawn mowing robot can save the time of returning from the ending point to the starting point, thus Optimize the mowing route of the lawn mower robot, reduce the power consumption of the lawn mower robot, and improve the lawn mowing efficiency.
  • Figure 1 is a schematic diagram of a scene of a lawn mowing method according to the prior art solution
  • Figure 2 is a schematic flow chart of a lawn mowing method provided by an embodiment of the present application.
  • Figure 3 is a schematic diagram of the work area arranged according to the mowing order provided by the embodiment of the present application.
  • Figure 4 is a schematic diagram of generating a closed mowing route provided by an embodiment of the present application.
  • Figure 5 is another schematic flow chart of a lawn mowing method provided by an embodiment of the present application.
  • Figure 6 is a schematic diagram of another scene of the lawn mowing method provided by the embodiment of the present application.
  • Figure 7 is a schematic structural diagram of a lawn mowing device provided by an embodiment of the present application.
  • Figure 8 is another structural schematic diagram of a lawn mowing device provided by an embodiment of the present application.
  • Figure 9 is a schematic structural diagram of a lawn mowing robot provided by an embodiment of the present application.
  • the charging location of the lawn mowing robot is the starting point of the mowing route
  • the starting point and the end point of the mowing route of the lawn mowing robot are located at different locations, which will cause the lawn mowing robot to complete the mowing operation according to the mowing route and arrive at the mowing route.
  • After the end point it needs to return to the charging location for charging and returns to the starting point of the mowing route. This allows the lawn mower robot to travel more distances and consumes more electric energy of the lawn mower robot to return to the charging location.
  • connection can be used for either fixation or circuit connection.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, it is limited to “first”, “Second” features may include one or more of these features, explicitly or implicitly.
  • “plurality” means two or more, unless otherwise explicitly and specifically limited.
  • Embodiments of the present application provide a lawn mowing method, device, lawn mowing robot, and storage medium.
  • the lawn mowing device can be integrated in the microcontroller unit (MCU) of the lawn mowing robot, or in a smart terminal or server.
  • MCU is also called a single chip microcomputer (Single Chip Microcomputer) or a single chip microcomputer. It is to appropriately reduce the frequency and specifications of the Central Processing Unit (CPU), and integrate peripheral interfaces such as memory, counter (Timer), USB, analog-to-digital conversion/digital-to-analog conversion, UART, PLC, DMA, etc. , forming a chip-level computer to perform different combination controls for different applications.
  • the lawn mowing robot can walk automatically to prevent collisions, automatically return to charge within the range, has safety detection and battery power detection, and has a certain climbing ability. It is especially suitable for lawn mowing and maintenance in home courtyards, public green spaces and other places. Its characteristics are: automatic Cut grass, clean grass clippings, automatically avoid rain, automatically charge, automatically avoid obstacles, compact appearance, electronic virtual fence, network control, etc.
  • the terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smart watch, etc., but is not limited to this. Terminals and servers can be connected directly or indirectly through wired or wireless communication methods.
  • the server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud service or cloud database. , cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and cloud servers for basic cloud computing services such as big data and artificial intelligence platforms, this application will not be used here. limit.
  • the working area described in the following embodiments refers to a closed area connected in sequence by at least three line segments in the same coordinate system; the boundary of the working area refers to the line segments used to enclose the working area into a closed area; the mowing route refers to It is a line segment connected by at least two coordinate points in the same coordinate system.
  • the starting point of the line segment is the starting point of the mowing route, and the end of the line segment is the end point of the mowing route.
  • the transition route refers to the route that connects the work routes in different work areas and the route to and from the starting point, that is, the route where the lawn mower travels but does not perform mowing operations.
  • a lawn mowing method includes: responding to a lawn mowing trigger request for a lawn mower robot, obtaining a preset Multiple working areas; according to the regional information of the working area, output the mowing sequence corresponding to the working area; based on the mowing sequence, the current position information of the lawn mowing robot and the mowing direction, a closed mowing route covering all working areas is generated, where , the starting point and end point of the closed mowing route are the same; the lawn mowing robot is controlled to perform mowing operations based on the closed mowing route.
  • FIG. 2 is a schematic flow chart of a lawn mowing method provided by an embodiment of the present application.
  • the specific process of this lawn mowing method can be as follows:
  • the working area is the area where the lawn mowing robot performs lawn mowing operations within a closed area with set boundaries.
  • multiple working areas are independent of each other. After the lawn mowing robot completes the lawn mowing operation in one working area, it then enters another working area to perform the lawn mowing operation.
  • the lawn mowing trigger request can be triggered by the lawn mowing robot itself, by the server, or by the user through hardware or software. For example, the lawn mowing robot needs to perform scheduled operations within a set time.
  • Trigger the lawn mowing trigger request for another example, the server issues a lawn mowing trigger request based on the reported lawn mowing trigger instruction; the user can also input the lawn mowing task information through the application on the mobile phone, and the mobile phone generates a target based on the lawn mowing task information.
  • the lawn mower robot's mowing trigger request for another example, the server issues a lawn mowing trigger request based on the reported lawn mowing trigger instruction; the user can also input the lawn mowing task information through the application on the mobile phone, and the mobile phone generates a target based on the lawn mowing task information.
  • the lawn mower robot's mowing trigger request for another example, the server issues a lawn mowing trigger request based on the reported lawn mowing trigger instruction; the user can also input the lawn mowing task information through the application on the mobile phone, and the mobile phone generates a target based on the lawn mowing task information.
  • the lawn mower robot's mowing trigger request for another example, the
  • the area information of the work area includes the shape of the work area, such as a polygonal work area connected in sequence by straight line segments as the boundaries of the work area, or an irregular-shaped work area where the boundaries of the work area are curves. .
  • the regional information of the work area also includes the area of the work area and so on.
  • the mowing sequence corresponding to the working area refers to that according to the mowing sequence, the lawn mowing robot completes the mowing operation in one working area and then enters another working area to perform the mowing operation. For example, multiple working areas are set according to the mowing sequence. It is determined as the first mowing sequence working area, the second mowing sequence working area,...the Nth mowing sequence working area.
  • the step "output the mowing sequence corresponding to the work area based on the area information of the work area” may specifically include:
  • FIG. 3 is a schematic diagram of the work area arranged according to the mowing order provided by the embodiment of the present application.
  • the working areas can be arranged as working areas S1 in the first mowing sequence, S1 in the second mowing sequence, and S1 in the second mowing sequence.
  • the area area is extracted from the area information of the work area, the area area of each work area is determined, the area areas of the two work areas are compared, and the work area with the largest area is used as the first cut.
  • the work area with the second largest area is regarded as the working area S2 of the second mowing order, and so on, so as to sort each work area and obtain the corresponding mowing order of the work area.
  • the area shape is extracted from the area information of the work area, the area shape of each work area is determined, and the number of boundaries of the work area is determined based on the area shape.
  • the number of boundaries of the triangular work area is three
  • the number of boundaries of the quadrilateral is three.
  • the number of boundaries of the working area is four.
  • the working area with the largest number of boundaries is regarded as the working area S1 of the first mowing order.
  • the working area with the second largest number of boundaries is regarded as the working area S2 of the second mowing order, and so on.
  • a closed mowing route covering all working areas is generated, where the starting point and end point of the closed mowing route are the same.
  • the current position information of the lawn mowing robot is first determined, such as which working area the lawn mowing robot is in, and the position of the lawn mowing robot relative to the working area. Since the mowing direction of the lawn mowing robot will affect the generation of the mowing route, for example, when the mowing direction of the lawn mowing robot is opposite to the direction of the working area S1 of the first mowing sequence, the generated mowing route will return to the first mowing sequence. Sequential work area S1.
  • the lawn mowing robot can start mowing along the mowing route at any point on the closed mowing route as the starting point, and the starting point is also the end point, that is The lawn mower robot completes the mowing operation along the mowing route and returns to the starting point.
  • the step "generate a closed mowing route covering all working areas based on the mowing sequence, the current position information of the mowing robot, and the mowing direction" may specifically include:
  • the mowing route corresponding to each work area is parallel to the longest boundary of the corresponding work area.
  • the step of "sequentially generating a mowing route corresponding to each working area based on the mowing sequence and the mowing direction of the lawn mowing robot” may specifically include:
  • the initial mowing route passes through the work area; when it is detected that the initial mowing route passes through the corresponding work area, the initial mowing route is adjusted to the mowing of the lawn mower robot along the corresponding work area.
  • FIG. 4 is a schematic diagram of generating a closed mowing route according to an embodiment of the present application. It can be understood that by detecting the distance between the working area S1 of the first mowing sequence and the current position of the lawn mowing robot, it is found that the distance between the working area S1 of the first mowing sequence and the current position of the lawn mowing robot is greater than The threshold is preset, and the working area S4 of the fourth mowing sequence is closer to the lawn mowing robot than the working area S1 of the first mowing sequence, and the working area S1 of the first mowing sequence is separated from the lawn mowing robot by the first mowing robot.
  • the working area S1 of the second mowing sequence, the working area S2 of the second mowing sequence, and the working area S3 of the third mowing sequence Therefore, when generating a mowing route, an initial mowing route is first generated for the lawn mowing robot to reach the working area S1 of the first mowing sequence.
  • the initial mowing route passes through the working area S1 of the first mowing sequence and the second mowing sequence.
  • the working area S2 and the working area S3 of the third mowing sequence are examples of the third mowing sequence.
  • a mowing route is generated in the working area S1 of the first mowing sequence, and then a mowing route is generated in the working area S2 of the second mowing sequence, Corresponding mowing routes are generated in the working area S3 of the third mowing sequence and the working area S4 of the fourth mowing sequence in sequence according to the mowing order. Finally, the mowing route of the working area S4 of the fourth mowing sequence is combined with the end point. (starting point, which is the current position of the lawn mower robot) connection.
  • the lawn mower robot responds to the mowing trigger request for the lawn mower robot, obtains multiple preset working areas, and then outputs the mowing sequence corresponding to the working area based on the area information of the working area. Then, based on The mowing sequence, the current position information of the mowing robot, and the mowing direction generate a closed mowing route covering all working areas. The starting point and end point of the closed mowing route are the same. Finally, the mowing robot is controlled based on the closed mowing route. Perform lawn mowing operations. In the mowing plan provided by this application, the mowing sequence corresponding to the working area is output based on the regional information of the working area.
  • the lawn mowing robot does not need to start mowing along the mowing route from a fixed starting point or return to a fixed end point after completing the mowing operation. It can use the lawn mowing robot at any time.
  • the current position of the lawn mower is used as the starting point to start the lawn mowing operation, which is beneficial to improving the lawn mowing efficiency.
  • the lawn mower robot performs the lawn mowing operation according to the same closed mowing route of the starting point and the end point, it can save the lawn mower robot from returning from the end point.
  • the time of the starting point can be optimized to optimize the mowing route of the lawn mower robot, reduce the power consumption of the lawn mower robot, and improve the lawn mowing efficiency.
  • FIG. 5 is another schematic flowchart of a lawn mowing method provided by an embodiment of the present application.
  • the specific process of this lawn mowing method can be as follows:
  • the working area is the area where the lawn mowing robot performs lawn mowing operations within a closed area with set boundaries.
  • multiple working areas are independent of each other. After the lawn mowing robot completes the lawn mowing operation in one working area, it then enters another working area to perform the lawn mowing operation.
  • the lawn mowing trigger request can be triggered by the lawn mowing robot itself, by the server, or by the user through hardware or software. For example, the lawn mowing robot needs to perform scheduled operations within a set time.
  • Trigger the lawn mowing trigger request for another example, the server issues a lawn mowing trigger request based on the reported lawn mowing trigger instruction; the user can also input the lawn mowing task information through the application on the mobile phone, and the mobile phone generates a target based on the lawn mowing task information.
  • the lawn mower robot's mowing trigger request for another example, the server issues a lawn mowing trigger request based on the reported lawn mowing trigger instruction; the user can also input the lawn mowing task information through the application on the mobile phone, and the mobile phone generates a target based on the lawn mowing task information.
  • the lawn mower robot's mowing trigger request for another example, the server issues a lawn mowing trigger request based on the reported lawn mowing trigger instruction; the user can also input the lawn mowing task information through the application on the mobile phone, and the mobile phone generates a target based on the lawn mowing task information.
  • the lawn mower robot's mowing trigger request for another example, the
  • the lawn mower robot responds to the mowing trigger request for the lawn mower robot, obtains the preset working area, and then generates a work area based on the shape of the working area, the current position information of the lawn mowing robot, and the mowing direction.
  • the lawn mowing robot is controlled to perform mowing operations based on the closed mowing route. Since the starting point and end point of the closed mowing route are the same, the lawn mowing The robot does not need to start mowing along the mowing route from a fixed starting point or return to a fixed end point after completing the mowing operation.
  • FIG. 6 is a schematic diagram of another scenario of the lawn mowing method provided by an embodiment of the present application.
  • the location of the lawn mowing robot is used as the starting point of the mowing route, a bow-shaped mowing route is generated in the work area, and finally the end point of the mowing route is set at the same position as the starting point of the mowing route.
  • the lawn mowing robot performs mowing operations, the lawn mowing robot starts from the starting point of the mowing route and performs mowing while traveling along the mowing route.
  • the lawn mowing robot returns to the starting point (end point) of the mowing route. It can be seen that since the starting point and end point of the mowing route are the same, the lawn mowing robot does not need to go through more transition routes without mowing from the end point to the starting point after completing the lawn mowing operation, thus saving the need to generate transition routes, and Save time and energy wasted when the lawn mower robot travels on transition routes.
  • the embodiment of the present application also provides a lawn mowing device based on the above.
  • the meanings of the nouns are the same as in the above-mentioned lawn mowing method.
  • FIG. 7 is a schematic structural diagram of a lawn mower device provided by an embodiment of the present application.
  • the lawn mower device may include an acquisition module 301, a sorting module 302, a generation module 303 and a control module 304.
  • the lawn mower device may be as follows:
  • the acquisition module 301 is configured to acquire multiple preset working areas in response to a lawn mowing trigger request for the lawn mower robot.
  • the sorting module 302 is used to output the mowing order corresponding to the work area according to the area information of the work area.
  • the sorting module 302 also includes:
  • the extraction unit is used to extract the area and shape of the area from the area information of the work area.
  • the sorting unit is used to determine the mowing order corresponding to the work area based on the area and shape of the area.
  • the generation module 303 is configured to generate a closed mowing route covering all working areas based on the mowing order, the current position information of the mowing robot, and the mowing direction, where the starting point and end point of the closed mowing route are the same.
  • the generation module 303 includes:
  • the generation unit is used to sequentially generate the mowing route corresponding to each work area based on the mowing sequence and the mowing direction of the lawn mowing robot.
  • the mowing route corresponding to each work area is parallel to the longest boundary of the corresponding work area.
  • connection unit is used to connect the generated mowing routes to obtain a closed mowing route covering all working areas, where the starting point and end point of the closed mowing route are located at the current position of the lawn mowing robot.
  • the generation unit also includes:
  • a detection subunit is used to detect the distance between the working area of the first mowing sequence and the current position of the lawn mowing robot.
  • a first generation subunit configured to generate an initial mowing route traveling in the mowing direction when it is detected that the distance between the working area of the first mowing sequence and the current position of the lawn mowing robot is greater than a preset threshold, wherein, The starting point of the initial mowing route is located at the current position of the lawn mowing robot, and the end point of the initial mowing route is located in the working area of the first mowing sequence.
  • the second generation subunit is used to generate mowing routes corresponding to each work area based on the initial mowing route and mowing order.
  • the initial mowing route passes through the work area; when it is detected that the initial mowing route passes through the corresponding work area, the initial mowing route is adjusted so that the lawn mowing robot moves along the A mowing route corresponding to the mowing boundary of the work area, where the work area is a closed area formed by connecting multiple line segments in sequence, and each line segment is the mowing boundary of the work area.
  • the control module 304 is used to control the lawn mowing robot to perform lawn mowing operations based on the closed mowing route.
  • the acquisition module 301 responds to the mowing trigger request for the lawn mower robot and acquires multiple preset working areas. Then, the sorting module 302 outputs the mowing order corresponding to the working area according to the regional information of the working area. Next, the generation module 303 generates a closed mowing route covering all working areas based on the mowing sequence, the current position information of the mowing robot, and the mowing direction, where the starting point and end point of the closed mowing route are the same. Finally, the control module 304 The lawn mower robot is controlled to perform lawn mowing operations based on a closed mowing route.
  • the mowing sequence corresponding to the working area is output based on the regional information of the working area.
  • the lawn mowing robot does not need to start mowing along the mowing route from a fixed starting point or return to a fixed end point after completing the mowing operation. It can use the lawn mowing robot at any time.
  • the current position of the lawn mower is used as the starting point to start the lawn mowing operation, which is beneficial to improving the lawn mowing efficiency.
  • the lawn mower robot since the lawn mower robot performs the lawn mowing operation according to the same closed mowing route at the starting point and end point, it can save the lawn mower robot from returning from the end point.
  • the time of the starting point can be optimized to optimize the mowing route of the lawn mower robot, reduce the power consumption of the lawn mower robot, and improve the lawn mowing efficiency.
  • Figure 8 is a schematic structural diagram of a lawn mower device provided by an embodiment of the present application.
  • the lawn mower device may include an acquisition module 401, a generation module 402, and a control module 403.
  • the lawn mower device may be as follows:
  • the acquisition module 401 is used to obtain a preset working area in response to a lawn mowing trigger request for the lawn mower robot.
  • the generation module 402 is configured to generate a closed mowing route of the working area based on the area shape of the working area, the current position information of the lawn mowing robot, and the mowing direction, where the starting point and end point of the closed mowing route are the same.
  • the control module 403 is used to control the lawn mowing robot to perform lawn mowing operations based on the closed mowing route.
  • the intelligent terminal, server or lawn mowing robot can generate a bow-shaped mowing route.
  • the intelligent terminal, server or lawn mowing robot can generate a bow-shaped mowing route.
  • the acquisition module 401 responds to the mowing trigger request for the lawn mower robot and obtains the preset working area. Then, the generating module 402 generates the preset working area according to the shape of the working area, the current position information of the lawn mowing robot and the mowing direction. , generate a closed mowing route of the work area, where, closed The starting point and end point of the mowing route are the same. Then, the control module 403 controls the lawn mowing robot to perform the mowing operation based on the closed mowing route. Since the starting point and end point of the closed mowing route are the same, the lawn mowing robot does not need to start from a fixed starting point.
  • the embodiment of the present application also provides a lawn mowing robot, as shown in Figure 9, which shows a schematic structural diagram of the lawn mowing robot involved in the embodiment of the present application. Specifically:
  • the lawn mowing robot may include a control module 501, a traveling mechanism 502, a cutting module 503, a power supply 504 and other components.
  • a control module 501 may control the traveling mechanism 502 and a cutting module 503, a power supply 504 and other components.
  • Those skilled in the art can understand that the structure of the lawn mowing robot shown in Figure 9 does not constitute a limitation on the lawn mowing robot, and may include more or less components than shown in the figure, or combine certain components, or different components. layout. in:
  • the control module 501 is the control center of the lawn mowing robot.
  • the control module 501 may specifically include a central processing unit (CPU), memory, input/output ports, system bus, timer/counter, digital-to-analog converter and Components such as analog-to-digital converters, the CPU performs various functions of the lawn mowing robot and processes data by running or executing software programs and/or modules stored in the memory, and calling data stored in the memory; preferably, the CPU can Integrated application processor and modem processor, where the application processor mainly handles operating systems and application programs, etc., and the modem processor mainly handles wireless communications. It is understandable that the above modem processor may not be integrated into the CPU.
  • the memory can be used to store software programs and modules, and the CPU executes various functional applications and data processing by running the software programs and modules stored in the memory.
  • the memory may mainly include a storage program area and a storage data area, wherein the storage program area may store the operating system, at least one application required for a function (such as a sound playback function, an image playback function, etc.), etc.; the storage data area may store data according to the segmentation The data created by the use of grass robots, etc.
  • the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • the memory may also include a memory controller to provide the CPU with access to the memory.
  • the traveling mechanism 502 is electrically connected to the control module 501, and is used to respond to the control signal transmitted by the control module 501, adjust the traveling speed and direction of the lawn mower robot, and realize the self-moving function of the lawn mower robot.
  • the cutting module 503 is electrically connected to the control module 501, and is used to respond to the control signal transmitted by the control module, adjust the height and rotation speed of the cutting blade, and implement lawn mowing operations.
  • the power supply 504 can be logically connected to the control module 501 through the power management system, so that functions such as charging, discharging, and power consumption management can be implemented through the power management system.
  • the power supply 504 may also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.
  • the lawn mowing robot may also include a communication module, a sensor module, a prompt module, etc., which will not be described again here.
  • the communication module is used to receive and send signals in the process of sending and receiving information. By establishing a communication connection with the user equipment, base station or server, it realizes signal sending and receiving with the user equipment, base station or server.
  • the sensor module is used to collect internal environmental information or external environmental information, and feeds the collected environmental data to the control module for decision-making, realizing the precise positioning and intelligent obstacle avoidance functions of the lawn mowing robot.
  • the sensors may include: ultrasonic sensors, infrared sensors, collision sensors, rain sensors, lidar sensors, inertial measurement units, wheel speedometers, image sensors, position sensors and other sensors, without limitation.
  • the prompt module is used to prompt the user about the current working status of the lawn mower robot.
  • the prompt module includes but is not limited to indicator lights, buzzers, etc.
  • a lawn mowing robot can remind the user of the current power status, motor working status, sensor working status, etc. through indicator lights.
  • a buzzer can be used to provide an alarm.
  • the processor in the control module 501 will load the executable files corresponding to the processes of one or more application programs into the memory according to the following instructions, and the processor will run the executable files stored in the memory. application to achieve various functions, as follows:
  • the lawn mowing robot In response to the mowing trigger request for the lawn mowing robot, obtain multiple preset working areas, and then, according to the area information of the working area, output the mowing sequence corresponding to the working area, and then, based on the mowing sequence , the current position information and the mowing direction of the lawn mower robot, a closed mowing route covering all working areas is generated, where the starting point and end point of the closed mowing route are the same, and the final mowing route is Finally, the lawn mowing robot is controlled to perform a lawn mowing operation based on the closed mowing route.
  • a mowing trigger request for the lawn mowing robot in response to a mowing trigger request for the lawn mowing robot, obtain a preset working area, and then generate a closure of the working area based on the area shape of the working area, the current position information of the lawn mowing robot, and the mowing direction.
  • the lawn mowing robot since the starting point and end point of the closed mowing route are the same, the lawn mowing robot does not need to start mowing along the mowing route from a fixed starting point or return to a fixed end point after completing the mowing operation.
  • the lawn mowing robot can start mowing operations at any time with the current position of the lawn mower robot as the starting point, which is beneficial to improving the mowing efficiency.
  • the lawn mower robot mows the lawn along a closed mowing route with the same starting point and end point, the lawn mower robot can save money. The time it takes to return from the end point to the starting point, thereby optimizing the mowing route of the lawn mower robot, reducing the power consumption of the lawn mower robot, and improving lawn mowing efficiency.
  • embodiments of the present application provide a storage medium in which a plurality of instructions are stored, and the instructions can be loaded by the processor to execute the steps in any of the lawn mowing methods provided by the embodiments of the present application.
  • this command can perform the following steps:
  • the lawn mowing robot In response to the mowing trigger request for the lawn mowing robot, obtain multiple preset working areas, and then, according to the area information of the working area, output the mowing sequence corresponding to the working area, and then, based on the mowing sequence , the current position information and mowing direction of the lawn mowing robot, generate a closed mowing route covering all working areas, where the starting point and end point of the closed mowing route are the same, and finally, based on the closed mowing route control
  • the lawn mowing robot performs lawn mowing operations.
  • a mowing trigger request for the lawn mowing robot in response to a mowing trigger request for the lawn mowing robot, obtain a preset working area, and then generate a closure of the working area based on the area shape of the working area, the current position information of the lawn mowing robot, and the mowing direction.
  • the storage medium may include: read only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, etc.

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Abstract

Les modes de réalisation de la présente demande divulguent un procédé de tonte. Le procédé consiste à : acquérir une pluralité de zones de travail prédéfinies en réponse à une demande de déclenchement de tonte pour un robot de tonte; en fonction d'informations de zone des zones de travail, délivrer en sortie une séquence de tonte correspondant aux zones de travail; sur la base de la séquence de tonte, des informations de position actuelle du robot de tonte et d'une direction de tonte, générer un itinéraire de tonte fermé qui couvre toutes les zones de travail, le point de départ et le point d'arrivée de l'itinéraire de tonte fermé étant les mêmes; et sur la base de l'itinéraire de tonte fermé, commander le robot de tonte pour exécuter une opération de tonte. Au moyen du procédé, un itinéraire de tonte d'un robot de tonte peut être optimisé, l'énergie électrique consommée par le robot de tonte est réduite, et l'efficacité de tonte est améliorée.
PCT/CN2023/105133 2022-07-12 2023-06-30 Procédé et appareil de tonte, robot de tonte et support de stockage WO2024012286A1 (fr)

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